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<li class="navelem"><a class="el" href="dir_c1698e121239b1aba7f6e782e4514e49.html">cFS</a></li><li class="navelem"><a class="el" href="dir_7ee4ce95da95d11e80a01c5101ed8d14.html">apps</a></li><li class="navelem"><a class="el" href="dir_414860549fe1f5475bcb32699266eda6.html">port_lib</a></li><li class="navelem"><a class="el" href="dir_96eb22f570806912b0c00e39297e594c.html">fsw</a></li><li class="navelem"><a class="el" href="dir_177fe1f9cf5443c270b5fea5afe4fbfe.html">public_inc</a></li><li class="navelem"><a class="el" href="dir_21e8b98476f1332e3b94242d590432e6.html">mavlink</a></li>  </ul>
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<div class="title">mavlink_types.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// Visual Studio versions before 2010 don&#39;t have stdint.h, so we just error out.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#if (defined _MSC_VER) &amp;&amp; (_MSC_VER &lt; 1600)</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#error &quot;The C-MAVLink implementation requires Visual Studio 2010 or greater&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;stdbool.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CXX_NAMESPACE</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span>mavlink {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// Macro to define packed structures</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">  #define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed))</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">  #define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) )</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef MAVLINK_MAX_PAYLOAD_LEN</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// it is possible to override this, but be careful!</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#define MAVLINK_MAX_PAYLOAD_LEN 255 </span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#define MAVLINK_CORE_HEADER_LEN 9 </span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) </span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#define MAVLINK_NUM_CHECKSUM_BYTES 2</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#define MAVLINK_SIGNATURE_BLOCK_LEN 13</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) </span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor"></span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;MAVPACKED(</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span> param_union {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">union </span>{</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keywordtype">float</span> param_float;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        int32_t param_int32;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        uint32_t param_uint32;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        int16_t param_int16;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        uint16_t param_uint16;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        int8_t param_int8;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        uint8_t param_uint8;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        uint8_t bytes[4];</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    };</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    uint8_t type;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}) mavlink_param_union_t;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;MAVPACKED(</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span> param_union_extended {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">union </span>{</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">struct </span>{</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        uint8_t is_double:1;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        uint8_t mavlink_type:7;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">union </span>{</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            <span class="keywordtype">char</span> c;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            uint8_t uint8;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            int8_t int8;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            uint16_t uint16;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            int16_t int16;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            uint32_t uint32;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            int32_t int32;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            <span class="keywordtype">float</span> f;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            uint8_t align[7];</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        };</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    };</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    uint8_t data[8];</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    };</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}) mavlink_param_union_double_t;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;MAVPACKED(</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span> __mavlink_system {</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    uint8_t sysid;   </div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    uint8_t compid;  </div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}) mavlink_system_t;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;MAVPACKED(</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span> __mavlink_message {</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    uint16_t checksum;      </div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    uint8_t magic;          </div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    uint8_t len;            </div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    uint8_t incompat_flags; </div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    uint8_t compat_flags;   </div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    uint8_t seq;            </div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    uint8_t sysid;          </div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    uint8_t compid;         </div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    uint32_t msgid:24;      </div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    uint8_t ck[2];          </div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN];</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}) mavlink_message_t;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    MAVLINK_TYPE_CHAR     = 0,</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    MAVLINK_TYPE_UINT8_T  = 1,</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    MAVLINK_TYPE_INT8_T   = 2,</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    MAVLINK_TYPE_UINT16_T = 3,</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    MAVLINK_TYPE_INT16_T  = 4,</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    MAVLINK_TYPE_UINT32_T = 5,</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    MAVLINK_TYPE_INT32_T  = 6,</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    MAVLINK_TYPE_UINT64_T = 7,</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    MAVLINK_TYPE_INT64_T  = 8,</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    MAVLINK_TYPE_FLOAT    = 9,</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    MAVLINK_TYPE_DOUBLE   = 10</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;} mavlink_message_type_t;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="preprocessor">#define MAVLINK_MAX_FIELDS 64</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="struct____mavlink__field__info.html">  139</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct____mavlink__field__info.html">__mavlink_field_info</a> {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span> *name;                 <span class="comment">// name of this field</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">char</span> *print_format;         <span class="comment">// printing format hint, or NULL</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        mavlink_message_type_t type;      <span class="comment">// type of this field</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> array_length;        <span class="comment">// if non-zero, field is an array</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> wire_offset;         <span class="comment">// offset of each field in the payload</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> structure_offset;    <span class="comment">// offset in a C structure</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;} <a class="code" href="struct____mavlink__field__info.html">mavlink_field_info_t</a>;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">// note that in this structure the order of fields is the order</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">// in the XML file, not necessary the wire order</span></div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="struct____mavlink__message__info.html">  150</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct____mavlink__message__info.html">__mavlink_message_info</a> {</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    uint32_t msgid;                                        <span class="comment">// message ID</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span> *name;                                      <span class="comment">// name of the message</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">unsigned</span> num_fields;                                   <span class="comment">// how many fields in this message</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="struct____mavlink__field__info.html">mavlink_field_info_t</a> fields[MAVLINK_MAX_FIELDS];       <span class="comment">// field information</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;} <a class="code" href="struct____mavlink__message__info.html">mavlink_message_info_t</a>;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="preprocessor">#define _MAV_PAYLOAD(msg) ((const char *)(&amp;((msg)-&gt;payload64[0])))</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor">#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&amp;((msg)-&gt;payload64[0])))</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment">// checksum is immediately after the payload bytes</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="preprocessor">#define mavlink_ck_a(msg) *((msg)-&gt;len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor">#define mavlink_ck_b(msg) *(((msg)-&gt;len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    MAVLINK_COMM_0,</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    MAVLINK_COMM_1,</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    MAVLINK_COMM_2,</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    MAVLINK_COMM_3</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;} mavlink_channel_t;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment"> * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment"> * of buffers they will use. If more are used, then the result will be</span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment"> * a stack overrun</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="preprocessor">#ifndef MAVLINK_COMM_NUM_BUFFERS</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="preprocessor">#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)</span></div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="preprocessor"># define MAVLINK_COMM_NUM_BUFFERS 16</span></div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor"># define MAVLINK_COMM_NUM_BUFFERS 4</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    MAVLINK_PARSE_STATE_UNINIT=0,</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    MAVLINK_PARSE_STATE_IDLE,</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    MAVLINK_PARSE_STATE_GOT_STX,</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    MAVLINK_PARSE_STATE_GOT_LENGTH,</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS,</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS,</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    MAVLINK_PARSE_STATE_GOT_SEQ,</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    MAVLINK_PARSE_STATE_GOT_SYSID,</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    MAVLINK_PARSE_STATE_GOT_COMPID,</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    MAVLINK_PARSE_STATE_GOT_MSGID1,</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    MAVLINK_PARSE_STATE_GOT_MSGID2,</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    MAVLINK_PARSE_STATE_GOT_MSGID3,</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    MAVLINK_PARSE_STATE_GOT_PAYLOAD,</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    MAVLINK_PARSE_STATE_GOT_CRC1,</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    MAVLINK_PARSE_STATE_GOT_BAD_CRC1,</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    MAVLINK_PARSE_STATE_SIGNATURE_WAIT</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;} mavlink_parse_state_t; </div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    MAVLINK_FRAMING_INCOMPLETE=0,</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    MAVLINK_FRAMING_OK=1,</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    MAVLINK_FRAMING_BAD_CRC=2,</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    MAVLINK_FRAMING_BAD_SIGNATURE=3</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;} mavlink_framing_t;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">#define MAVLINK_STATUS_FLAG_IN_MAVLINK1  1 // last incoming packet was MAVLink1</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="preprocessor">#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default</span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="preprocessor">#define MAVLINK_STATUS_FLAG_IN_SIGNED    4 // last incoming packet was signed and validated</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">#define MAVLINK_STATUS_FLAG_IN_BADSIG    8 // last incoming packet had a bad signature</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#define MAVLINK_STX_MAVLINK1 0xFE          // marker for old protocol</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html">  217</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct____mavlink__status.html">__mavlink_status</a> {</div><div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">  218</a></span>&#160;    uint8_t <a class="code" href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">msg_received</a>;               </div><div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#ae0ceb5a136021ee78c953f2e86d772cb">  219</a></span>&#160;    uint8_t <a class="code" href="struct____mavlink__status.html#ae0ceb5a136021ee78c953f2e86d772cb">buffer_overrun</a>;             </div><div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">  220</a></span>&#160;    uint8_t <a class="code" href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">parse_error</a>;                </div><div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">  221</a></span>&#160;    mavlink_parse_state_t <a class="code" href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">parse_state</a>; 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   uint16_t <a class="code" href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">packet_rx_success_count</a>;   </div><div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#a1a1f510b9484e705c971f20fd1d61912">  226</a></span>&#160;    uint16_t <a class="code" href="struct____mavlink__status.html#a1a1f510b9484e705c971f20fd1d61912">packet_rx_drop_count</a>;      </div><div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">  227</a></span>&#160;    uint8_t <a class="code" href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">flags</a>;                      </div><div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">  228</a></span>&#160;    uint8_t <a class="code" href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">signature_wait</a>;             </div><div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">  229</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="struct____mavlink__signing.html">__mavlink_signing</a> *<a class="code" href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">signing</a>;  </div><div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="struct____mavlink__status.html#ab0e29fe56be92a4bbd722529ac76bd84">  230</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="struct____mavlink__signing__streams.html">__mavlink_signing_streams</a> *<a class="code" href="struct____mavlink__status.html#ab0e29fe56be92a4bbd722529ac76bd84">signing_streams</a>; </div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;} <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a>;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment">  a callback function to allow for accepting unsigned packets</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">typedef</span> bool (*mavlink_accept_unsigned_t)(<span class="keyword">const</span> <a class="code" href="struct____mavlink__status.html">mavlink_status_t</a> *status, uint32_t msgid);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">  flags controlling signing</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1</span></div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment">  state of MAVLink signing for this channel</span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="struct____mavlink__signing.html">  246</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct____mavlink__signing.html">__mavlink_signing</a> {</div><div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">  247</a></span>&#160;    uint8_t <a class="code" href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">flags</a>;                     </div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    uint8_t link_id;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    uint64_t timestamp;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    uint8_t secret_key[32];</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    mavlink_accept_unsigned_t accept_unsigned_callback;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;} <a class="code" href="struct____mavlink__signing.html">mavlink_signing_t</a>;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment">  timestamp state of each logical signing stream. This needs to be the same structure for all</span></div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment">  connections in order to be secure</span></div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="preprocessor">#ifndef MAVLINK_MAX_SIGNING_STREAMS</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="preprocessor">#define MAVLINK_MAX_SIGNING_STREAMS 16</span></div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="struct____mavlink__signing__streams.html">  261</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct____mavlink__signing__streams.html">__mavlink_signing_streams</a> {</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    uint16_t num_signing_streams;</div><div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="struct____mavlink__signing__streams_1_1____mavlink__signing__stream.html">  263</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="struct____mavlink__signing__streams_1_1____mavlink__signing__stream.html">__mavlink_signing_stream</a> {</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        uint8_t link_id;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        uint8_t sysid;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        uint8_t compid;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        uint8_t timestamp_bytes[6];</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    } stream[MAVLINK_MAX_SIGNING_STREAMS];</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;} <a class="code" href="struct____mavlink__signing__streams.html">mavlink_signing_streams_t</a>;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="preprocessor">#define MAVLINK_BIG_ENDIAN 0</span></div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="preprocessor">#define MAVLINK_LITTLE_ENDIAN 1</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="preprocessor">#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM    1</span></div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT 2</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">  entry in table of information about each message type</span></div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="struct____mavlink__msg__entry.html">  281</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct____mavlink__msg__entry.html">__mavlink_msg_entry</a> {</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    uint32_t msgid;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    uint8_t crc_extra;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    uint8_t msg_len;</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    uint8_t flags;             <span class="comment">// MAV_MSG_ENTRY_FLAG_*</span></div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    uint8_t target_system_ofs; <span class="comment">// payload offset to target_system, or 0</span></div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    uint8_t target_component_ofs; <span class="comment">// payload offset to target_component, or 0</span></div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;} <a class="code" href="struct____mavlink__msg__entry.html">mavlink_msg_entry_t</a>;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="comment">  incompat_flags bits</span></div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="preprocessor">#define MAVLINK_IFLAG_SIGNED  0x01</span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="preprocessor">#define MAVLINK_IFLAG_MASK    0x01 // mask of all understood bits</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="preprocessor">#ifdef MAVLINK_USE_CXX_NAMESPACE</span></div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;} <span class="comment">// namespace mavlink</span></div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="struct____mavlink__status_html_ab0e29fe56be92a4bbd722529ac76bd84"><div class="ttname"><a href="struct____mavlink__status.html#ab0e29fe56be92a4bbd722529ac76bd84">__mavlink_status::signing_streams</a></div><div class="ttdeci">struct __mavlink_signing_streams * signing_streams</div><div class="ttdoc">global record of stream timestamps </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:230</div></div>
<div class="ttc" id="struct____mavlink__status_html"><div class="ttname"><a href="struct____mavlink__status.html">__mavlink_status</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:217</div></div>
<div class="ttc" id="struct____mavlink__signing__streams_html"><div class="ttname"><a href="struct____mavlink__signing__streams.html">__mavlink_signing_streams</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:261</div></div>
<div class="ttc" id="struct____mavlink__field__info_html"><div class="ttname"><a href="struct____mavlink__field__info.html">__mavlink_field_info</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:139</div></div>
<div class="ttc" id="struct____mavlink__signing__streams_1_1____mavlink__signing__stream_html"><div class="ttname"><a href="struct____mavlink__signing__streams_1_1____mavlink__signing__stream.html">__mavlink_signing_streams::__mavlink_signing_stream</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:263</div></div>
<div class="ttc" id="struct____mavlink__status_html_a183576e45facc9da8123b7866d458680"><div class="ttname"><a href="struct____mavlink__status.html#a183576e45facc9da8123b7866d458680">__mavlink_status::msg_received</a></div><div class="ttdeci">uint8_t msg_received</div><div class="ttdoc">Number of received messages. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:218</div></div>
<div class="ttc" id="struct____mavlink__status_html_aaf6742a61bbc641a4600184b3260fa0f"><div class="ttname"><a href="struct____mavlink__status.html#aaf6742a61bbc641a4600184b3260fa0f">__mavlink_status::parse_state</a></div><div class="ttdeci">mavlink_parse_state_t parse_state</div><div class="ttdoc">Parsing state machine. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:221</div></div>
<div class="ttc" id="struct____mavlink__signing_html"><div class="ttname"><a href="struct____mavlink__signing.html">__mavlink_signing</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:246</div></div>
<div class="ttc" id="struct____mavlink__status_html_ae7a52aa0c84929dbf181220c689f9ec8"><div class="ttname"><a href="struct____mavlink__status.html#ae7a52aa0c84929dbf181220c689f9ec8">__mavlink_status::parse_error</a></div><div class="ttdeci">uint8_t parse_error</div><div class="ttdoc">Number of parse errors. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:220</div></div>
<div class="ttc" id="struct____mavlink__status_html_a1a1f510b9484e705c971f20fd1d61912"><div class="ttname"><a href="struct____mavlink__status.html#a1a1f510b9484e705c971f20fd1d61912">__mavlink_status::packet_rx_drop_count</a></div><div class="ttdeci">uint16_t packet_rx_drop_count</div><div class="ttdoc">Number of packet drops. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:226</div></div>
<div class="ttc" id="struct____mavlink__msg__entry_html"><div class="ttname"><a href="struct____mavlink__msg__entry.html">__mavlink_msg_entry</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:281</div></div>
<div class="ttc" id="struct____mavlink__message__info_html"><div class="ttname"><a href="struct____mavlink__message__info.html">__mavlink_message_info</a></div><div class="ttdef"><b>Definition:</b> mavlink_types.h:150</div></div>
<div class="ttc" id="struct____mavlink__signing_html_a5e08957249da64329f7ee29c1c503516"><div class="ttname"><a href="struct____mavlink__signing.html#a5e08957249da64329f7ee29c1c503516">__mavlink_signing::flags</a></div><div class="ttdeci">uint8_t flags</div><div class="ttdoc">MAVLINK_SIGNING_FLAG_*. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:247</div></div>
<div class="ttc" id="struct____mavlink__status_html_aa088f67773cdf9ff541c5880e65cee68"><div class="ttname"><a href="struct____mavlink__status.html#aa088f67773cdf9ff541c5880e65cee68">__mavlink_status::packet_rx_success_count</a></div><div class="ttdeci">uint16_t packet_rx_success_count</div><div class="ttdoc">Received packets. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:225</div></div>
<div class="ttc" id="struct____mavlink__status_html_a2b67d268b29712b9607d1796228a77a2"><div class="ttname"><a href="struct____mavlink__status.html#a2b67d268b29712b9607d1796228a77a2">__mavlink_status::flags</a></div><div class="ttdeci">uint8_t flags</div><div class="ttdoc">MAVLINK_STATUS_FLAG_*. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:227</div></div>
<div class="ttc" id="struct____mavlink__status_html_a3e582235849323267974003eb1793e25"><div class="ttname"><a href="struct____mavlink__status.html#a3e582235849323267974003eb1793e25">__mavlink_status::packet_idx</a></div><div class="ttdeci">uint8_t packet_idx</div><div class="ttdoc">Index in current packet. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:222</div></div>
<div class="ttc" id="struct____mavlink__status_html_affbdd32b3dff8ae35327a79ed6b17646"><div class="ttname"><a href="struct____mavlink__status.html#affbdd32b3dff8ae35327a79ed6b17646">__mavlink_status::current_rx_seq</a></div><div class="ttdeci">uint8_t current_rx_seq</div><div class="ttdoc">Sequence number of last packet received. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:223</div></div>
<div class="ttc" id="struct____mavlink__status_html_ae0ceb5a136021ee78c953f2e86d772cb"><div class="ttname"><a href="struct____mavlink__status.html#ae0ceb5a136021ee78c953f2e86d772cb">__mavlink_status::buffer_overrun</a></div><div class="ttdeci">uint8_t buffer_overrun</div><div class="ttdoc">Number of buffer overruns. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:219</div></div>
<div class="ttc" id="struct____mavlink__status_html_afbdd26652864ceeccf1155287752496c"><div class="ttname"><a href="struct____mavlink__status.html#afbdd26652864ceeccf1155287752496c">__mavlink_status::signature_wait</a></div><div class="ttdeci">uint8_t signature_wait</div><div class="ttdoc">number of signature bytes left to receive </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:228</div></div>
<div class="ttc" id="struct____mavlink__status_html_a06482d6c3fbfa829526c9b2e2e895f32"><div class="ttname"><a href="struct____mavlink__status.html#a06482d6c3fbfa829526c9b2e2e895f32">__mavlink_status::current_tx_seq</a></div><div class="ttdeci">uint8_t current_tx_seq</div><div class="ttdoc">Sequence number of last packet sent. </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:224</div></div>
<div class="ttc" id="struct____mavlink__status_html_a12ca1a2ade1b6b83d87a8cd7553884a9"><div class="ttname"><a href="struct____mavlink__status.html#a12ca1a2ade1b6b83d87a8cd7553884a9">__mavlink_status::signing</a></div><div class="ttdeci">struct __mavlink_signing * signing</div><div class="ttdoc">optional signing state </div><div class="ttdef"><b>Definition:</b> mavlink_types.h:229</div></div>
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